WO2017024761A1 - Method and apparatus for recovering and flying unmanned aerial vehicle in hand-held manner - Google Patents

Abstract

A method and apparatus for recovering and flying an unmanned aerial vehicle in a hand-held manner. The method comprises: detecting in real time a state parameter of an unmanned aerial vehicle (S101); judging whether the unmanned aerial vehicle is flown or recovered in a hand-held manner through the state parameter (S102); if it is judged that the unmanned aerial vehicle is flown in the hand-held manner, controlling rotation of a rotor to begin takeoff (S103); and if it is judged that the unmanned aerial vehicle is recovered in the hand-held manner, controlling the rotor to stop rotation (S104). When an unmanned aerial vehicle is recovered in a hand-held manner, the unmanned aerial vehicle will be subjected to a resistance from hands, and when the unmanned aerial vehicle is subjected to a resistance from hands during a flying process, an obvious change will occur to a state parameter within a short time. When the unmanned aerial vehicle is flown in the hand-held manner from stop, the unmanned aerial vehicle is lifted up, and the state parameter also changes during the process. Therefore, whether an unmanned aerial vehicle is flown in a hand-held manner can be judged through a change in the state parameter. This method omits an operation of a user on a remote control device for flying and recovering an unmanned aerial vehicle. For a user, the technique for operating a remote control is omitted. For the unmanned aerial vehicle, there is more freedom because it is not controlled by other devices.

Description

Method and device for hand-held recycling and flying unmanned aerial vehicles

This application claims priority to Chinese Patent Application No. 201510487744.5, entitled "Method and Apparatus for Hand-held Recycling and Flying UAVs", submitted on August 10, 2015, the entire contents of which are hereby incorporated by reference. The citations are incorporated herein by reference.

Technical field

The invention relates to the technical field of drone control, in particular to a method and a device for hand-held recycling and releasing a drone.

Background technique

In the prior art, the drone is recovered by using a remote controller or a similar remote control device (such as a mobile phone) to control the drone to land on a certain plane, and then manually retract the drone.

However, such a recycling method requires the user to operate the remote controller first to fly the drone above the landing point, which has certain requirements for the level of the user's operation of the remote controller. Some users cannot quickly recycle the drone if they are not familiar with the remote control of the drone. In addition, in such a recycling mode, the drone will have a free fall process within a certain distance before approaching the landing plane, and the free fall process is liable to cause damage to the drone. Finally, such a recycling method has a strong sense of manipulation, and the way human-computer interaction is unnatural.

In the prior art, the way the drone is released is:

First turn the drone's switch on, then place the drone on the ground or other plane, and finally control the drone's rotor rotation through a remote control or similar remote control device (such as a mobile phone) to complete the drone's takeoff.

However, this way of releasing the drone through the remote controller requires the operator to have skilled remote control technology and has a strong sense of manipulation.

Therefore, those skilled in the art need to provide a method and device for hand-held recycling and unloading of a drone, which can manually recycle the drone without using a remote controller to better realize human-computer interaction.

Summary of the invention

The technical problem to be solved by the present invention is to provide a method and a device for hand-held recycling and unloading of a drone, which can manually recycle the drone without using a remote controller to better realize human-computer interaction.

Embodiments of the present invention provide a method for handheld recovery and release of a drone, including:

Real-time detection of the status parameters of the drone;

Determining, by the state parameter, whether the drone is being hand-held or hand-held;

If it is determined that the drone is being hand-held, the control rotor rotation begins to take off;

If it is determined that the drone is being hand-held for recycling, the control rotor stops rotating.

Preferably, the determining the drone is manually recovered, specifically comprising:

Whether the drone is interfered by the hand is determined by the state parameter of the drone; if it is judged that the hand is interfered, the drone is judged to be hand-collected.

Preferably, the state parameter of the drone includes a position parameter of the drone and a posture parameter of the drone;

Determining, by the state parameter of the drone, whether the drone is interfered by the hand, specifically:

Obtaining a total change in the position of the drone from the position parameter of the drone;

Obtaining a total change in the attitude of the drone from the attitude parameter of the drone;

When the total change amount of the position of the drone is greater than or equal to the preset position change amount threshold and the total change amount of the posture of the drone is greater than or equal to the preset posture change amount threshold, it is determined that the drone is subjected to Hand interference.

Preferably, the determining that the drone is released by hand, specifically includes:

Determining whether the drone is triggered to enter the preliminary flight state;

After determining that the drone enters the preliminary flight state, it is continued to confirm whether the drone is in a hand-flat state within a predetermined time;

When it is confirmed that the drone is in the hand-flat state, the state parameter of the drone itself is compared with the state parameter of the previous moment to determine whether to release the hand, and if so, it is determined that the drone is hand-held.

Preferably, when it is determined that the drone is triggered to enter the preliminary flight state, the trajectory that is determined by the drone being lifted by the hand is a preset trajectory, and specifically includes:

Detecting the positional parameters (x _i , y _i , z _i ) corresponding to the drone at time t _i , x _i , y _i are respectively two-dimensional coordinates of the x-axis and the y-axis parallel to the horizontal plane of the ground, and z _i is vertical The coordinates of the ground; t _i is the time stamp;

It is judged by x _i , y _i whether the movement direction of the drone in the x-axis and the y-axis is monotonous to the positive axis or monotonous to the negative axis; the z _{i is} determined by the z _i in the z-axis Whether it is monotonously increasing in the positive direction of the z-axis;

When it is judged that the trajectory of the drone in the x-axis and the y-axis direction is a monotonic positive or a monotonic negative axis, and the motion trajectory of the z-axis is monotonously increasing toward the positive axis of the Z-axis, then it is determined that none Man-machine entry Prepare for flight.

Preferably, the determining that the drone is in a hand-flat state during a predetermined time includes:

Obtaining the total change in the position of the drone from the position parameter of the drone;

Obtaining the total change of the attitude of the drone by the attitude parameter of the drone;

When the total change amount of the position of the drone is less than the preset position change amount threshold and the total change amount of the posture of the drone is less than the preset posture change amount threshold, it is determined that the drone is in the hand-flat state.

The embodiment of the invention further provides an apparatus for hand-held recycling and releasing a drone, comprising: a state parameter detecting unit, a judging unit and a control unit;

The state parameter detecting unit is configured to detect a state parameter of the drone in real time;

The determining unit is configured to determine, by using the state parameter, whether the drone is hand-held or hand-held;

The control unit is configured to control the rotation of the rotor to start taking off if the determination unit determines that the drone is being hand-held, and control the rotation of the rotor if the determination unit determines that the drone is manually recovered.

Preferably, the determining unit determines, by the state parameter of the drone, whether the drone is interfered by the hand; if it is determined that the hand is interfered, determining that the drone is manually recovered;

The determining unit includes: a position total change amount obtaining subunit, a posture total change amount obtaining subunit, and an interference judging subunit;

The total position change amount obtaining subunit is configured to obtain a total change amount of the position of the drone by the position parameter of the drone;

The total attitude change amount obtaining subunit is configured to obtain a total change amount of the attitude of the drone by the posture parameter of the drone;

The interference judging subunit is configured to: when the total position change amount of the drone is greater than or equal to the preset position change amount threshold and the total posture change amount of the drone is greater than or equal to the preset posture change amount threshold It is determined that the drone is interfered by the hand.

Preferably, the determining unit determines that the trajectory of the drone being lifted by the hand is a preset trajectory to determine that the drone is triggered to enter the preliminary flight state, and after determining that the drone enters the preliminary flight state, continue to confirm whether the drone is Hand-held and flattened for a predetermined period of time; when the drone is confirmed to be in a hand-held state When the state parameter of the drone itself is compared with the state parameter of the previous moment, it is judged whether the hand is released, and if so, it is judged that the drone is released by hand.

Preferably, the determining unit further includes: a position parameter detecting subunit, a first determining subunit, and a first determining subunit;

The position parameter detecting subunit is configured to detect a position parameter (x _i , y _i , z _i ) corresponding to the drone at time t _i , and x _i , y _i are respectively an x-axis and a y of a horizontal plane parallel to the ground The two-dimensional coordinates of the axis, z _i is the coordinate perpendicular to the ground; t _i is the time stamp;

The first determining sub-unit, configured x _i, y _i determines the direction of movement of the UAV in the x-axis and y-axis motion is monotonic if the direction of the negative axis or the positive axis direction monotonous; by z _i Determining whether the trajectory of the drone in the z-axis is monotonously increasing toward the positive axis of the z-axis;

The first determining subunit is configured to: when the first determining subunit determines that the motion trajectory of the drone in the x-axis and the y-axis direction is a monotonic positive axis or a monotonic negative axis, and is in the z-axis When the motion trajectory is monotonically increasing toward the positive axis of the Z axis, it is determined that the drone enters the preliminary flight state.

Preferably, the determining unit further includes: a handheld flat state determining subunit;

The handheld leveling state determining subunit is configured to: when the total position change amount of the drone is less than a preset position change amount threshold, and the total posture change amount of the drone is less than a preset posture change amount threshold, It is determined that the drone is in a hand-flat state.

Compared with the prior art, the present invention has the following advantages:

By detecting the state parameters of the drone itself, it can be judged whether the drone is hand-held or hand-held. When the drone is hand-received, the drone will be subjected to the resistance of the hand, and the drone will receive the hand during the flight. When the resistance is short, the state parameters will change significantly in a short time. When the drone is taken off by the hand, the drone is lifted and the intermediate state parameters are also changed. Therefore, it is possible to judge whether or not the hand is released by the change of the state parameter. The method provided by the invention omits the user's manipulation of the remote control device for the release and recovery of the drone. For the user, the technology for operating the remote controller is omitted, and for the drone, it is more free and is not controlled by other devices. Directly rely on the collection of its own parameters to determine whether to recycle it. This method is relatively simple to implement and omits the hardware cost of the remote control.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art description will be briefly described below. Obviously, the following description The drawings in the drawings are only some of the embodiments of the present invention, and those skilled in the art can obtain other drawings according to the drawings without any creative work.

1 is a flow chart of a first embodiment of a method for hand-held recycling and unloading a drone provided by the present invention;

2 is a flow chart of a second embodiment of a method for hand-held recycling of a drone provided by the present invention;

3 is a flow chart of a third embodiment of a method for a hand-held flying unmanned aerial vehicle provided by the present invention;

Figure 4 is a schematic view of a first embodiment of the apparatus provided by the present invention;

FIG. 5 is a schematic diagram of a determination unit provided by the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The above described objects, features and advantages of the present invention will become more apparent from the aspects of the appended claims.

Method embodiment one:

Referring to Figure 1, there is shown a flow chart of a first embodiment of a method for hand-held recycling and unloading of a drone provided by the present invention.

The method for hand-held recycling and releasing a drone provided by this embodiment includes:

S101: detecting a status parameter of the drone in real time;

It can be understood that the method for hand-held recycling of the drone provided by the present invention does not require any remote control device, but directly recycles the drone by hand. Therefore, detecting the state parameters of the drone is detected by the sensor of the drone itself. For example, an instrument such as an accelerometer or a gyroscope is provided on the drone.

S102: Determine, by using the state parameter, whether the drone is hand-held or hand-held;

The judging drone is recovered by hand, specifically comprising:

Whether the drone is interfered by the hand is determined by the state parameter of the drone; if it is judged that the hand is interfered, the drone is judged to be hand-collected.

It can be understood that when the drone is recovered by hand, the unmanned person receives the resistance of the hand and the amount of change of the state parameter in a short time.

When the drone is hand-held, no one is caught by the hand and then triggered to take off.

S103: If it is determined that the drone is released by hand, controlling the rotation of the rotor to start taking off;

It should be noted that the hand-held flight described in the present invention refers to that the drone can be hovered in the air after the user's hand is released. It can be understood that when the drone is hovering, the speed is zero and the angular velocity is also zero.

S104: If it is determined that the drone is recovered by hand, the control rotor stops rotating.

The method for hand-held recycling and unloading of the drone provided by the invention can detect whether the drone is hand-held or hand-held by detecting the state parameter of the drone itself, and when the drone is hand-recycled, the drone Will be subject to the resistance of the hand, the state parameters will change significantly in a short time when the drone is subjected to the resistance of the hand during flight. When the drone is taken off by the hand, the drone is lifted and the intermediate state parameters are also changed. Therefore, it is possible to judge whether or not the hand is released by the change of the state parameter. The method provided by the invention omits the user's manipulation of the remote control device for the release and recovery of the drone. For the user, the technology for operating the remote controller is omitted, and for the drone, it is more free and is not controlled by other devices. Directly rely on the collection of its own parameters to determine whether to recycle it. This method is relatively simple to implement and omits the hardware cost of the remote control.

In addition, it should be noted that the hand-held recycling method of the present invention is generally applied to the case where the rotor of the drone is disposed inside the casing for safety, that is, the casing is provided outside the rotor, so that when the hand-held recycling and the hand-held release are performed, the rotation is performed. The rotor in the middle will not hurt the hand.

Method Embodiment 2:

Referring to Figure 2, there is shown a flow chart of a hand-held recycling drone provided by the present invention.

S201: detecting a state parameter of the drone in real time; the state parameter of the drone includes a position parameter of the drone and a posture parameter of the drone;

The position parameter of the drone is specifically measured by the accelerometer, the data of the unmanned aerial vehicle detected by the first camera on the ground facing side of the drone, and the drone detector detected by the sonar detector. Ground distance data fusion is obtained;

The attitude parameter of the drone is obtained by fusing data detected by the accelerometer and data detected by the gyroscope.

Let the state parameters of the drone be expressed as follows: (t _i , x _i , y _i , z _i , φ _i , θ _i , ψ _i ), where (x _i , y _i , z _i ) is the drone at the moment The positional parameter corresponding to t _i , x _i , y _i are two-dimensional coordinates parallel to the ground, z _i is the coordinate perpendicular to the ground; t _i is the time stamp; (φ _i , θ _i , ψ _i ) is unmanned The attitude parameters corresponding to the machine at time t _i , that is, φ _i , θ _i , ψ _i respectively represent the angles with the above three coordinate axes;

S202: Obtain a total change amount of the position of the drone by the position parameter of the drone; obtain a total change amount of the posture of the drone by the posture parameter of the drone;

Obtaining the total position change of the drone by the following formula by the position parameter of the drone

Obtaining the total change of the attitude of the drone by the following formula by the attitude parameter of the drone

S203: determining that the drone is determined when the total position change amount of the drone is greater than or equal to a preset position change amount threshold and the total posture change amount of the drone is greater than or equal to a preset posture change amount threshold. I was disturbed by my hand.

Further, it can be expressed by the following formula, where t represents the time when the rotor stops rotating, and the condition that satisfies the following formula appears in the period from t _a to t _b before t, then the rotor can be controlled to stop rotating at time t.

所述t在t_b之后，所述t时刻时控制旋翼停止旋转。among them,

The t is after t _b , and the moment t is controlled to stop the rotation of the rotor.

的最大值大于或等于设置的位置变化阈值thr_p且姿态总变化量的最大值大于或等于设置的姿态总变化阈值thr_O，则在t_b之后的时刻就可以控制旋翼停止旋转。That is, if the total position change in the time period from t _a to t _b

The maximum value is greater than or equal to the set position change threshold thr _p and the maximum value of the total attitude change is greater than or equal to the set total attitude change threshold thr _O , so that the rotor can be controlled to stop rotating at a time after t _b .

It can be understood that controlling the rotation of the rotor at the time after t _b means that it can be controlled at any time afterwards, but in order to stop the rotation of the rotor as soon as possible, it is selected to control the rotation of the rotor at the time when the rotor is stopped for the first time. Rotate.

For example, the time window of the judgment is T, and the length of T is T=t _b -t _a . The first time window judges that the condition that the rotor stops rotating, and the second time window judgment also satisfies the condition that the rotor stops rotating, then the rotor can be controlled to stop rotating at the time after the first time window, without having to judge the second The case of the time window.

S204: If it is determined that the drone is interfered by the hand, the rotor of the drone is controlled to stop rotating.

In this embodiment, it is determined whether the drone has received the interference of the hand, that is, the resistance of the hand, by determining whether the total change of the position of the drone and the total change of the attitude satisfy the set condition, and if the condition is satisfied, The drone is subjected to the resistance of the hand, indicating that the user is performing the action of hand-held recycling of the drone, and the drone controls its own rotor to stop rotating, thereby realizing hand-held recycling.

In addition, it should be noted that the hand-held recycling method of the present invention is generally applied to the case where the rotor of the drone is disposed inside the casing for safety, that is, the casing is provided outside the rotor, so that the rotor in rotation is recovered when hand-held. Will not hurt your hand.

The method of hand-held recycling of the drone provided by the above method omits the process of the operator operating the remote controller, and does not require any level of operation of the operator. And for the drone, there is no free fall process to protect itself from damage. For example, in the prior art, the recycling of the drone is remotely controlled to the operator by a remote controller, and then the drone is free to fall into the hands of the operator to realize recycling. The prior art method of remotely recycling a drone is poorly controllable.

Method embodiment three:

Referring to Figure 3, there is shown a flow chart of a hand-held flying drone provided by the present invention.

In the embodiment, when the judgment is triggered to enter the preliminary flight state, it is a specific implementation manner when it is determined that the trajectory lifted by the drone is a preset trajectory.

When it is judged that the drone is triggered to enter the preliminary flight state, it is determined that the trajectory lifted by the drone is a preset trajectory, and specifically includes:

S301: Detecting positional parameters (x _i , y _i , z _i ) corresponding to the drone at time t _i , and x _i , y _i are two-dimensional coordinates of the x-axis and the y-axis parallel to the horizontal plane of the ground, respectively, z _i Is the coordinate perpendicular to the ground; t _i is the time stamp;

S302: determining, by x _i , y _{i ,} whether the movement direction of the drone in the x-axis and the y-axis is monotonous to the positive axis direction or monotonous to the negative axis direction; determining the drone on the z-axis by z _i Whether the motion trajectory is monotonically increasing toward the positive axis of the z-axis;

S303: When judging that the movement track of the drone in the x-axis and the y-axis direction is a monotonous positive axis or a single When the trajectory of the z-axis is monotonously increasing toward the positive axis of the Z-axis, the drone is determined to enter the preparatory flight state.

First assume that the trajectory of the hand-lifting drone is a parabola in a three-dimensional space, and the relationship between the corresponding positional parameter and time can be expressed as the following formula (1):

Among them, a3>0. a ₁ , a ₂ , β ₁ , and β ₂ are all set coefficients.

The speed expression of the drone on the x, y, and z axes can be obtained by the formula (1), as shown in the formula (2).

It can be seen from equation (2) that in the process of lifting the drone, the movement in the horizontal direction, that is, the x-axis and the y-axis direction is monotonous, and the movement in the z-axis direction is monotonous to the positive direction of the z-axis. That is, the z-axis is an ascending motion.

如果无人机在x轴方向的运动过程中出现波动，则

因此避免出现波动时，影响最终的判断，设置了宽限阈值T₁。同理，y轴也设置了宽限阈值T₁。z轴设置了宽限阈值T₂。即可以通过以下的公式(4)、(5)和(6)来判断 However, since the process in which the drone is lifted cannot strictly follow the above formula, jitter may occur or fluctuate briefly. Therefore, in order to include the jitter condition, the judgment condition is relaxed in the present invention, and it is understandable that If the drone moves in the x-axis direction in the positive or negative direction of the x-axis, then

If the drone fluctuates during the movement in the x-axis direction, then

Therefore, when fluctuations are avoided, the final judgment is affected, and the grace threshold T _{1 is set} . Similarly, the y-axis also sets the grace threshold T ₁ . The z-axis sets the grace threshold T ₂ . That is, it can be judged by the following formulas (4), (5), and (6).

The x _{i is} determined by x _i to move the trajectory of the drone on the x-axis in a monotonic direction or a monotonous direction to the negative axis, which is determined by the following formula:

The y _{i is} determined by the y _i to move the trajectory of the drone in the uniaxial direction to the direction of the positive axis or to the direction of the negative axis, which is determined by the following formula:

The z _{i is} determined whether the motion trajectory of the drone in the z-axis direction is monotonously increasing in the positive axis direction of the z-axis, and is specifically determined by the following formula:

Wherein T ₁ is a preset value greater than 0 and less than or equal to 1, and T ₂ is a preset value greater than 0 and less than or equal to 1.

If the drone's motion on the x, y, and z axes conforms to equations (4), (5), and (6), then it can be determined that the drone is triggered into the preparatory flight state.

S304: obtaining a total change amount of the position of the drone by the position parameter of the drone; obtaining a total change amount of the posture of the drone by the posture parameter of the drone;

S305: determining that the drone is in a hand-held level when the total position change amount of the drone is less than a preset position change amount threshold and the total attitude change amount of the drone is less than a preset posture change amount threshold. status.

It should be noted that, in this embodiment, the drone is used to determine that he is hand-flated by the resistance of the hand. Specifically, it can be determined whether the hand is leveled by the following method.

Let the position parameters of the drone be expressed as follows: (t _i , x _i , y _i , z _i , φ _i , θ _i , ψ _i ), where (x _i , y _i , z _i ) is the drone at the moment The positional parameter corresponding to t _i , x _i , y _i are respectively two-dimensional coordinates parallel to the ground, z _i is the coordinate perpendicular to the ground; t _i is the time stamp; (φ _i , θ _i , ψ _i ) is unmanned The attitude parameters corresponding to the machine at time t _i , that is, φ _i , θ _i , ψ _i respectively represent the angles with the above three coordinate axes;

Obtaining the total position change of the drone by the following formula by the position parameter of the drone

Obtaining the total change of the attitude of the drone by the following formula by the attitude parameter of the drone

When the total change amount of the position of the drone is less than the preset position change amount threshold and the total change amount of the posture of the drone is less than the preset posture change amount threshold, it is determined that the drone is interfered by the hand.

Further, it can be expressed by the following formula, where t represents the time when the rotor stops rotating, and the condition that satisfies the following formula appears in the period from t _a to t _b before t, then the rotor can be controlled to stop rotating at time t.

所述t在t_b之后，所述t时刻时控制旋翼停止旋转。among them,

The t is after t _b , and the moment t is controlled to stop the rotation of the rotor.

的最大值小于设置的位置变化阈值thr_p且姿态总变化量的最大值小于设置的姿态总变化阈值thr_O，则在t_b之后的时刻就可以控制旋翼停止旋转。That is, if the total position change in the time period from t _a to t _b

The maximum value is smaller than the set position change threshold thr _p and the maximum value of the total posture change amount is smaller than the set attitude total change threshold value thr _O , and the rotor can be controlled to stop rotating at the time after t _b .

It can be understood that controlling the rotation of the rotor at the time after t _b means that it can be controlled at any time afterwards, but in order to stop the rotation of the rotor as soon as possible, it is selected to control the rotation of the rotor at the time when the rotor is stopped for the first time. Rotate.

For example, the time window of the judgment is T, and the length of T is T=t _b -t _a . The first time window judges that the condition that the rotor stops rotating, and the second time window judgment also satisfies the condition that the rotor stops rotating, then the rotor can be controlled to stop rotating at the time after the first time window, without having to judge the second The case of the time window.

S306: When it is confirmed that the drone is in the hand-flat state, the state parameter of the drone itself is compared with the state parameter of the previous moment to determine whether to release the hand, and if so, the rotor of the drone is controlled to rotate to take off.

When the drone is in the hand-flat state for a predetermined time, the position of the drone is positioned at the initial position. It should be noted that when the drone is in the hand-flat state, the speed and angular velocity are both zero. When the hand is released, the drone needs to complete the adaptive process to hover itself in the air. However, at the moment when the hand is released, the drone needs to make an attitude adjustment, and the target of the adjustment is the initial position. Therefore, various sensors set by the drone detect the state of the drone, compare the current state with the state of the initial position, and control the parameters of the speed, angular velocity, throttle and the like of the drone according to the comparison result, so that the drone is After the hand is released, it can still be stably hovered in the air, that is, it is consistent with the state of the initial position.

Based on the method for hand-held recycling and unloading drones provided by the above embodiments, the present invention also provides a device for hand-held recycling and unloading of drones, and the working principle thereof will be described in detail below with reference to the accompanying drawings.

Device embodiment 1:

Referring to FIG. 4, it is a schematic diagram of a first embodiment of a device provided by the present invention.

The device for collecting and releasing the unmanned aerial vehicle provided by the embodiment includes: a state parameter detecting unit 401, a determining unit 402, and a control unit 403;

The state parameter detecting unit 401 is configured to detect a state parameter of the drone in real time;

It can be understood that the method for hand-held recycling of the drone provided by the present invention does not require any remote control device, but directly recycles the drone by hand. Therefore, detecting the state parameters of the drone is detected by the sensor of the drone itself. For example, an instrument such as an accelerometer or a gyroscope is provided on the drone.

The determining unit 402 is configured to determine, by using the state parameter, whether the drone is hand-held or hand-held;

The judging drone is recovered by hand, specifically comprising:

Whether the drone is interfered by the hand is determined by the state parameter of the drone; if it is judged that the hand is interfered, the drone is judged to be hand-collected.

It can be understood that when the drone is recovered by hand, the unmanned person receives the resistance of the hand and the amount of change of the state parameter in a short time.

When the drone is hand-held, no one is caught by the hand and then triggered to take off.

The control unit 403 is configured to control the rotation of the rotor to start taking off if the judging unit determines that the drone is being hand-held, and control the rotation of the rotor if the judging unit determines that the drone is hand-recovered.

The device for hand-held recycling and unloading drones of the present invention detects the state parameters of the drone itself, and can determine whether the drone is hand-held or hand-held. When the drone is hand-held, the drone will Under the resistance of the hand, the state parameters will change significantly in a short time when the drone is subjected to the resistance of the hand during flight. When the drone is taken off by the hand, the drone is lifted and the intermediate state parameters are also changed. Therefore, it is possible to judge whether or not the hand is released by the change of the state parameter. The device provided by the invention omits the user's manipulation of the remote control device for the release and recovery of the drone. For the user, the technology for operating the remote controller is omitted, and for the drone, it is more free and is not controlled by other devices. Directly rely on the collection of its own parameters to determine whether to recycle it. The device is relatively simple to implement and omits the hardware cost of the remote control.

Device embodiment 2:

Referring to Figure 5, there is shown a schematic diagram of a determination unit in the apparatus provided by the present invention.

In the apparatus provided by the embodiment, the determining unit determines whether the drone is interfered by the hand by using the state parameter of the drone; if it is determined that the hand is interfered, determining that the drone is held by the hand Recycling

The determining unit 402 includes: a position total change amount obtaining subunit 402a, a posture total change amount obtaining subunit 402b, and an interference judging subunit 402c;

The position total change obtaining subunit 402a is configured to obtain a total position change amount of the drone by the position parameter of the drone;

The total attitude change obtaining sub-unit 402b is configured to obtain the total change amount of the attitude of the drone by the attitude parameter of the drone;

The interference judging sub-unit 402c is configured to: when the total position change amount of the drone is greater than or equal to a preset position change amount threshold, and the total posture change amount of the drone is greater than or equal to a preset posture change amount threshold At the time, it is determined that the drone is disturbed by the hand.

The position total change obtaining sub-unit 402a obtains the total position change of the drone by the following formula

Where (x _i , y _i , z _i ) is a positional parameter corresponding to the drone at time t _i , x _i , y _i are respectively two-dimensional coordinates parallel to the ground, and z _i is a coordinate perpendicular to the ground;

The total attitude change obtaining subunit 402b obtains the total change amount of the attitude of the drone by the following formula

Where (φ _i , θ _i , ψ _i ) is a pose parameter corresponding to the drone at time t _i ;

The interference judging sub-unit 402c is specifically configured to, within a predetermined time window (t _a , t _b ), if the maximum value of the total position change amount is greater than or equal to a preset position change amount threshold value and the total posture change amount If the maximum value is greater than or equal to the preset attitude change amount threshold, it is determined that the drone is interfered by the hand.

Further, the interference judging sub-unit 402c can be expressed by the following formula, where t represents the time when the rotor stops rotating, and the condition that satisfies the following formula appears in the period from t _a to t _b before t, then it can be Control the rotor to stop rotating.

所述t在t_b之后，所述t时刻时控制旋翼停止旋转。among them,

The t is after t _b , and the moment t is controlled to stop the rotation of the rotor.

的最大值大于或等于设置的位置变化阈值thr_p且姿态总变化量的最大值大于或等于设置的姿态总变化阈值thr_O，则在t_b之后的时刻就可以控制旋翼停止旋转。That is, if the total position change in the time period from t _a to t _b

The maximum value is greater than or equal to the set position change threshold thr _p and the maximum value of the total attitude change is greater than or equal to the set total attitude change threshold thr _O , so that the rotor can be controlled to stop rotating at a time after t _b .

It can be understood that controlling the rotation of the rotor at the time after t _b means that it can be controlled at any time afterwards, but in order to stop the rotation of the rotor as soon as possible, it is selected to control the rotation of the rotor at the time when the rotor is stopped for the first time. Rotate.

For example, the time window of the judgment is T, and the length of T is T=t _b -t _a . The first time window judges that the condition that the rotor stops rotating, and the second time window judgment also satisfies the condition that the rotor stops rotating, then the rotor can be controlled to stop rotating at the time after the first time window, without having to judge the second The case of the time window.

The judging unit 402 in this embodiment determines that the trajectory of the drone being lifted by the hand is a preset trajectory to determine that the drone is triggered to enter the preliminary flight state, and after determining that the drone enters the preliminary flight state, continue to confirm the drone. Whether it is in the hand-flat state within the predetermined time; when confirming that the drone is in the hand-flat state, compare the state parameter of the drone itself with the state parameter of the previous moment to determine whether it is loose Hand, if it is, then judge that the drone is being hand-held.

The determining unit 402 further includes: a position parameter detecting subunit 402d, a first determining subunit 402e, and a first determining subunit 402f;

The position parameter detecting subunit 402d is configured to detect a position parameter (x _i , y _i , z _i ) corresponding to the drone at time t _i , and x _i , y _i are respectively an x-axis and a horizontal plane parallel to the ground The two-dimensional coordinates of the y-axis, z _i is the coordinate perpendicular to the ground; t _i is the time stamp;

The first determining sub-unit 402e is configured to determine, by x _i , y _{i ,} whether the movement direction of the drone in the x-axis and the y-axis is monotonous to the positive axis direction or monotonous to the negative axis direction; _i judge whether the motion trajectory of the drone in the z-axis is monotonously increasing in the positive axis direction of the z-axis;

The first determining subunit 402f is configured to: when the first determining subunit 402e determines that the motion trajectory of the drone in the x-axis and the y-axis direction is a monotonic positive or a monotonic negative axis, and When the trajectory of the axis is monotonically increasing toward the positive axis of the Z axis, it is determined that the drone enters the preliminary flight state.

The determining unit 402 further includes: a hand-flattening state determining sub-unit 402g;

The handheld leveling state determining sub-unit 402g is configured to: when the total position change amount of the drone is less than a preset position change amount threshold and the total posture change amount of the drone is less than a preset posture change amount threshold And determining that the drone is in a hand-flat state.

When the drone is in the hand-flat state for a predetermined time, the position of the drone is positioned at the initial position. It should be noted that the speed and angular velocity are zero when the drone is in the hand-flat state. When the hand is released, the drone needs to complete the adaptive process to hover itself in the air. However, at the moment when the hand is released, the drone needs to make an attitude adjustment, and the target of the adjustment is the initial position. Therefore, various sensors set by the drone detect the state of the drone, compare the current state with the state of the initial position, and control the parameters of the speed, angular velocity, throttle and the like of the drone according to the comparison result, so that the drone is After the hand is released, it can still be stably hovered in the air, that is, it is consistent with the state of the initial position.

The drone provided by the embodiment of the invention can realize the hand-held flying, and does not need to use a remote control device such as a remote controller to release the drone, but the user directly holds the fly. When the user releases the hand, the drone can complete the adaptation and take off. In this way, the control of the drone is more free, and the user can be easily released without the familiarity with the remote control technology.

The above description is only a preferred embodiment of the invention and is not intended to limit the invention in any way. While the invention has been described above in the preferred embodiments, it is not intended to limit the invention. Any A person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention by using the methods and technical contents disclosed above, or modify the equivalent implementation of equivalent changes without departing from the scope of the technical solutions of the present invention. example. Therefore, any simple modifications, equivalent changes, and modifications of the above embodiments may be made without departing from the spirit and scope of the invention.

Claims (11)

A method for hand-held recycling and releasing a drone, characterized in that it comprises: Real-time detection of the status parameters of the drone; Determining, by the state parameter, whether the drone is being hand-held or hand-held; If it is determined that the drone is being hand-held, the control rotor rotation begins to take off; If it is determined that the drone is being hand-held for recycling, the control rotor stops rotating. The method of claim 1, wherein the determining that the drone is hand-held, specifically comprises: Whether the drone is interfered by the hand is determined by the state parameter of the drone; if it is judged that the hand is interfered, the drone is judged to be hand-collected. The method of claim 2, wherein the state parameters of the drone include a position parameter of the drone and an attitude parameter of the drone; Determining, by the state parameter of the drone, whether the drone is interfered by the hand, specifically: Obtaining a total change in the position of the drone from the position parameter of the drone; Obtaining a total change in the attitude of the drone from the attitude parameter of the drone; When the total change amount of the position of the drone is greater than or equal to the preset position change amount threshold and the total change amount of the posture of the drone is greater than or equal to the preset posture change amount threshold, it is determined that the drone is subjected to Hand interference. The method of claim 1 , wherein the determining that the drone is hand-held, specifically comprises: Determining whether the drone is triggered to enter the preliminary flight state; After determining that the drone enters the preliminary flight state, it is continued to confirm whether the drone is in a hand-flat state within a predetermined time; When it is confirmed that the drone is in the hand-flat state, the state parameter of the drone itself is compared with the state parameter of the previous moment to determine whether to release the hand, and if so, it is determined that the drone is hand-held. The method of claim 4, wherein when the drone is triggered to enter the preliminary flight state, the trajectory that is raised by the drone is determined to be a preset trajectory. Includes: Detecting the positional parameters (x _i , y _i , z _i ) corresponding to the drone at time t _i , x _i , y _i are respectively two-dimensional coordinates of the x-axis and the y-axis parallel to the horizontal plane of the ground, and z _i is vertical The coordinates of the ground; t _i is the time stamp; It is judged by x _i , y _i whether the movement direction of the drone in the x-axis and the y-axis is monotonous to the positive axis or monotonous to the negative axis; the z _{i is} determined by the z _i in the z-axis Whether it is monotonously increasing in the positive direction of the z-axis; When it is judged that the trajectory of the drone in the x-axis and the y-axis direction is a monotonic positive or a monotonic negative axis, and the motion trajectory of the z-axis is monotonously increasing toward the positive axis of the Z-axis, then it is determined that none The man-machine enters the preparatory flight state. The method of claim 4, wherein the determining that the drone is in a hand-held state within a predetermined time comprises: Obtaining the total change in the position of the drone from the position parameter of the drone; Obtaining the total change of the attitude of the drone by the attitude parameter of the drone; When the total change amount of the position of the drone is less than the preset position change amount threshold and the total change amount of the posture of the drone is less than the preset posture change amount threshold, it is determined that the drone is in the hand-flat state. The device for holding and releasing a drone is characterized in that it comprises: a state parameter detecting unit, a judging unit and a control unit; The state parameter detecting unit is configured to detect a state parameter of the drone in real time; The determining unit is configured to determine, by using the state parameter, whether the drone is hand-held or hand-held; The control unit is configured to control the rotation of the rotor to start taking off if the determination unit determines that the drone is being hand-held, and control the rotation of the rotor if the determination unit determines that the drone is manually recovered. The apparatus for recycling and unloading a drone according to claim 7, wherein the judging unit judges whether the drone is interfered by a hand through a state parameter of the drone; After the interference of the hand, it is judged that the drone is recovered by hand; The determining unit includes: a position total change amount obtaining subunit, a posture total change amount obtaining subunit, and an interference judging subunit; The total position change amount obtaining subunit for obtaining a drone from the position parameter of the drone Total change in position; The total attitude change amount obtaining subunit is configured to obtain a total change amount of the attitude of the drone by the posture parameter of the drone; The interference judging subunit is configured to: when the total position change amount of the drone is greater than or equal to the preset position change amount threshold and the total posture change amount of the drone is greater than or equal to the preset posture change amount threshold It is determined that the drone is interfered by the hand. The apparatus for collecting and unloading a drone according to claim 8, wherein the determining unit determines that the trajectory of the drone being lifted by the hand is a preset trajectory, and determines that the drone is triggered to enter the preliminary flight state. After determining that the drone enters the preparatory flight state, it continues to confirm whether the drone is in a hand-flat state within a predetermined time; when it is confirmed that the drone is in the hand-flat state, the state parameter of the drone itself is The state parameters at a moment are compared to determine whether to let go, and if so, the drone is judged to be released by hand. The device for recycling and unloading a drone according to claim 9, wherein the determining unit further comprises: a position parameter detecting subunit, a first determining subunit, and a first determining subunit; The position parameter detecting subunit is configured to detect a position parameter (x _i , y _i , z _i ) corresponding to the drone at time t _i , and x _i , y _i are respectively an x-axis and a y of a horizontal plane parallel to the ground The two-dimensional coordinates of the axis, z _i is the coordinate perpendicular to the ground; t _i is the time stamp; The first determining sub-unit, configured x _i, y _i determines the direction of movement of the UAV in the x-axis and y-axis motion is monotonic if the direction of the negative axis or the positive axis direction monotonous; by z _i Determining whether the trajectory of the drone in the z-axis is monotonously increasing toward the positive axis of the z-axis; The first determining subunit is configured to: when the first determining subunit determines that the motion trajectory of the drone in the x-axis and the y-axis direction is a monotonic positive axis or a monotonic negative axis, and is in the z-axis When the motion trajectory is monotonically increasing toward the positive axis of the Z axis, it is determined that the drone enters the preliminary flight state. The device for collecting and unloading a drone according to claim 8, wherein the determining unit further comprises: a hand-flattening state determining sub-unit; The handheld leveling state determining subunit is configured to: when the total position change amount of the drone is less than a preset position change amount threshold, and the total posture change amount of the drone is less than a preset posture change amount threshold, It is determined that the drone is in a hand-flat state.

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